In persistent monitoring problems, a team of autonomous agents is tasked to monitor a given environment. The problem is closely related to coverage control [1]}, the key difference being that the environment is assumed to change dynamically, so that all points of interest must be revisited persistently. The problem has received a lot of attention over the last decade due to its broad applicability across a range of applications, including environmental monitoring [2]}, data harvesting [3]}, and particle tracking [4]}. Persistent monitoring problems are notoriously difficult to solve because of highly non-convex and non-smooth costs and dynamics along with the computational complexity due to the problem's combinatorial nature.
